def run(self):
queued_jobs = []
active_jobs = []
completed_jobs = {}
failed_jobs = []
warned_jobs = []
cumulative_times = dict()
start_times = dict()
active_stages = dict()
start_time = self.pre_start_time or time.time()
last_update_time = time.time()
# If the status rate is too low, just disable it
if self.active_status_rate < 1E-3:
self.show_active_status = False
else:
update_duration = 1.0 / self.active_status_rate
# Disable the wide log padding if the status is disabled
if not self.show_active_status:
disable_wide_log()
while True:
# Check if we should stop
if not self.keep_running:
wide_log(
clr('[{}] An internal error occurred!').format(self.label))
return
# Write a continuously-updated status line
if self.show_active_status:
# Try to get an event from the queue (non-blocking)
try:
event = self.event_queue.get(False)
except Empty:
# Determine if the status should be shown based on the desired
# status rate
elapsed_time = time.time() - last_update_time
show_status_now = elapsed_time > update_duration
if show_status_now:
# Print live status (overwrites last line)
status_line = clr(
'[{} {} s] [{}/{} complete] [{}/{} jobs] [{} queued]'
).format(
self.label,
format_time_delta_short(time.time() - start_time),
len(completed_jobs), len(self.jobs),
job_server.running_jobs(), job_server.max_jobs(),
len(queued_jobs) + len(active_jobs) -
len(active_stages))
# Show failed jobs
if len(failed_jobs) > 0:
status_line += clr(
' [@!@{rf}{}@| @{rf}failed@|]').format(
len(failed_jobs))
# Check load / mem
if not job_server.load_ok():
status_line += clr(' [@!@{rf}High Load@|]')
if not job_server.mem_ok():
status_line += clr(' [@!@{rf}Low Memory@|]')
# Add active jobs
if len(active_jobs) == 0:
status_line += clr(
' @/@!@{kf}Waiting for jobs...@|')
else:
active_labels = []
for j, (s, t, p) in active_stages.items():
d = format_time_delta_short(
cumulative_times[j] + time.time() - t)
if p == '':
active_labels.append(
clr('[{}:{} - {}]').format(j, s, d))
else:
active_labels.append(
clr('[{}:{} ({}%) - {}]').format(
j, s, p, d))
status_line += ' ' + ' '.join(active_labels)
# Print the status line
# wide_log(status_line)
wide_log(status_line, rhs='', end='\r')
sys.stdout.flush()
# Store this update time
last_update_time = time.time()
else:
time.sleep(
max(0.0, min(update_duration - elapsed_time,
0.01)))
# Only continue when no event was received
continue
else:
# Try to get an event from the queue (blocking)
try:
event = self.event_queue.get(True)
except Empty:
break
# A `None` event is a signal to terminate
if event is None:
break
# Handle the received events
eid = event.event_id
if 'JOB_STATUS' == eid:
queued_jobs = event.data['queued']
active_jobs = event.data['active']
completed_jobs = event.data['completed']
# Check if all jobs have finished in some way
if all([
len(event.data[t]) == 0
for t in ['pending', 'queued', 'active']
]):
break
elif 'STARTED_JOB' == eid:
cumulative_times[event.data['job_id']] = 0.0
wide_log(
clr('Starting >>> {:<{}}').format(event.data['job_id'],
self.max_jid_length))
elif 'FINISHED_JOB' == eid:
duration = format_time_delta(
cumulative_times[event.data['job_id']])
if event.data['succeeded']:
wide_log(
clr('Finished <<< {:<{}} [ {} ]').format(
event.data['job_id'], self.max_jid_length,
duration))
else:
failed_jobs.append(event.data['job_id'])
wide_log(
clr('Failed <<< {:<{}} [ {} ]').format(
event.data['job_id'], self.max_jid_length,
duration))
elif 'ABANDONED_JOB' == eid:
# Create a human-readable reason string
if 'DEP_FAILED' == event.data['reason']:
direct = event.data['dep_job_id'] == event.data[
'direct_dep_job_id']
if direct:
reason = clr('Depends on failed job {}').format(
event.data['dep_job_id'])
else:
reason = clr('Depends on failed job {} via {}').format(
event.data['dep_job_id'],
event.data['direct_dep_job_id'])
elif 'PEER_FAILED' == event.data['reason']:
reason = clr('Unrelated job failed')
elif 'MISSING_DEPS' == event.data['reason']:
reason = clr('Depends on unknown jobs: {}').format(
', '.join([
clr('@!{}@|').format(jid)
for jid in event.data['dep_ids']
]))
wide_log(
clr('Abandoned <<< {:<{}} [ {} ]').format(
event.data['job_id'], self.max_jid_length, reason))
elif 'STARTED_STAGE' == eid:
active_stages[event.data['job_id']] = [
event.data['stage_label'], event.time, ''
]
start_times[event.data['job_id']] = event.time
if self.show_stage_events:
wide_log(
clr('Starting >> {}:{}').format(
event.data['job_id'], event.data['stage_label']))
elif 'STAGE_PROGRESS' == eid:
active_stages[event.data['job_id']][2] = event.data['percent']
elif 'SUBPROCESS' == eid:
if self.show_stage_events:
wide_log(
clr('Subprocess > {}:{} `{}`').format(
event.data['job_id'], event.data['stage_label'],
event.data['stage_repro']))
elif 'FINISHED_STAGE' == eid:
# Get the stage duration
duration = event.time - start_times[event.data['job_id']]
cumulative_times[event.data['job_id']] += duration
# This is no longer the active stage for this job
del active_stages[event.data['job_id']]
header_border = None
header_border_file = sys.stdout
header_title = None
header_title_file = sys.stdout
lines = []
footer_title = None
footer_title_file = sys.stdout
footer_border = None
footer_border_file = sys.stdout
# Generate headers / borders for output
if event.data['succeeded']:
footer_title = clr('Finished << {}:{}').format(
event.data['job_id'], event.data['stage_label'])
if len(event.data['stderr']) > 0:
# Mark that this job warned about something
if event.data['job_id'] not in warned_jobs:
warned_jobs.append(event.data['job_id'])
# Output contains warnings
header_border = clr('@!@{yf}' + '_' *
(terminal_width() - 1) + '@|')
header_border_file = sys.stderr
header_title = clr('Warnings << {}:{} {}').format(
event.data['job_id'], event.data['stage_label'],
event.data['logfile_filename'])
header_title_file = sys.stderr
footer_border = clr('@{yf}' + '.' *
(terminal_width() - 1) + '@|')
footer_border_file = sys.stderr
else:
# Normal output, no warnings
header_title = clr('Output << {}:{} {}').format(
event.data['job_id'], event.data['stage_label'],
event.data['logfile_filename'])
# Don't print footer title
if not self.show_stage_events:
footer_title = None
else:
# Output contains errors
header_border = clr('@!@{rf}' + '_' *
(terminal_width() - 1) + '@|')
header_border_file = sys.stderr
header_title = clr('Errors << {}:{} {}').format(
event.data['job_id'], event.data['stage_label'],
event.data['logfile_filename'])
header_title_file = sys.stderr
footer_border = clr('@{rf}' + '.' *
(terminal_width() - 1) + '@|')
footer_border_file = sys.stderr
footer_title = clr(
'Failed << {}:{:<{}} [ Exited with code {} ]').format(
event.data['job_id'], event.data['stage_label'],
max(
0, self.max_jid_length -
len(event.data['job_id'])),
event.data['retcode'])
footer_title_file = sys.stderr
lines_target = sys.stdout
if self.show_buffered_stdout:
if len(event.data['interleaved']) > 0:
lines = [
line for line in
event.data['interleaved'].splitlines(True)
if (self.show_compact_io is False
or len(line.strip()) > 0)
]
else:
header_border = None
header_title = None
footer_border = None
elif self.show_buffered_stderr:
if len(event.data['stderr']) > 0:
lines = [
line
for line in event.data['stderr'].splitlines(True)
if (self.show_compact_io is False
or len(line.strip()) > 0)
]
lines_target = sys.stderr
else:
header_border = None
header_title = None
footer_border = None
if len(lines) > 0:
if self.show_repro_cmd:
if event.data['repro'] is not None:
lines.append(
clr('@!@{kf}{}@|\n').format(
event.data['repro']))
# Print the output
if header_border:
wide_log(header_border, file=header_border_file)
if header_title:
wide_log(header_title, file=header_title_file)
if len(lines) > 0:
wide_log(''.join(lines), end='\r', file=lines_target)
if footer_border:
wide_log(footer_border, file=footer_border_file)
if footer_title:
wide_log(footer_title, file=footer_title_file)
elif 'STDERR' == eid:
if self.show_live_stderr and len(event.data['data']) > 0:
wide_log(self.format_interleaved_lines(event.data),
end='\r',
file=sys.stderr)
elif 'STDOUT' == eid:
if self.show_live_stdout and len(event.data['data']) > 0:
wide_log(self.format_interleaved_lines(event.data),
end='\r')
elif 'MESSAGE' == eid:
wide_log(event.data['msg'])
# Print the full summary
if self.show_full_summary:
self.print_exec_summary(completed_jobs, warned_jobs, failed_jobs)
# Print a compact summary
if self.show_summary or self.show_full_summary:
self.print_compact_summary(completed_jobs, warned_jobs,
failed_jobs)
# Print final runtime
wide_log(
clr('[{}] Runtime: {} total.').format(
self.label, format_time_delta(time.time() - start_time)))
def build_isolated_workspace(context,
packages=None,
start_with=None,
no_deps=False,
jobs=None,
force_cmake=False,
force_color=False,
quiet=False,
interleave_output=False,
no_status=False,
lock_install=False,
no_notify=False):
"""Builds a catkin workspace in isolation
This function will find all of the packages in the source space, start some
executors, feed them packages to build based on dependencies and topological
ordering, and then monitor the output of the executors, handling loggings of
the builds, starting builds, failing builds, and finishing builds of
packages, and handling the shutdown of the executors when appropriate.
:param context: context in which to build the catkin workspace
:type context: :py:class:`catkin_tools.verbs.catkin_build.context.Context`
:param packages: list of packages to build, by default their dependencies will also be built
:type packages: list
:param start_with: package to start with, skipping all packages which proceed it in the topological order
:type start_with: str
:param no_deps: If True, the dependencies of packages will not be built first
:type no_deps: bool
:param jobs: number of parallel package build jobs
:type jobs: int
:param force_cmake: forces invocation of CMake if True, default is False
:type force_cmake: bool
:param force_color: forces colored output even if terminal does not support it
:type force_color: bool
:param quiet: suppresses the output of commands unless there is an error
:type quiet: bool
:param interleave_output: prints the output of commands as they are received
:type interleave_output: bool
:param no_status: disables status bar
:type no_status: bool
:param lock_install: causes executors to synchronize on access of install commands
:type lock_install: bool
:param no_notify: suppresses system notifications
:type no_notify: bool
:raises: SystemExit if buildspace is a file or no packages were found in the source space
or if the provided options are invalid
"""
# If no_deps is given, ensure packages to build are provided
if no_deps and packages is None:
sys.exit("With --no-deps, you must specify packages to build.")
# Make sure there is a build folder and it is not a file
if os.path.exists(context.build_space_abs):
if os.path.isfile(context.build_space_abs):
sys.exit(
clr("@{rf}Error:@| Build space '{0}' exists but is a file and not a folder."
.format(context.build_space_abs)))
# If it dosen't exist, create it
else:
log("Creating build space directory, '{0}'".format(
context.build_space_abs))
os.makedirs(context.build_space_abs)
# Check for catkin_make droppings
if context.corrupted_by_catkin_make():
sys.exit(
clr("@{rf}Error:@| Build space `{0}` exists but appears to have previously been "
"created by the `catkin_make` or `catkin_make_isolated` tool. "
"Please choose a different directory to use with `catkin build` "
"or clean the build space.".format(context.build_space_abs)))
# Declare a buildspace marker describing the build config for error checking
buildspace_marker_data = {
'workspace': context.workspace,
'profile': context.profile,
'install': context.install,
'install_space': context.install_space_abs,
'devel_space': context.devel_space_abs,
'source_space': context.source_space_abs
}
# Check build config
if os.path.exists(
os.path.join(context.build_space_abs, BUILDSPACE_MARKER_FILE)):
with open(os.path.join(
context.build_space_abs,
BUILDSPACE_MARKER_FILE)) as buildspace_marker_file:
existing_buildspace_marker_data = yaml.load(buildspace_marker_file)
misconfig_lines = ''
for (k, v) in existing_buildspace_marker_data.items():
new_v = buildspace_marker_data.get(k, None)
if new_v != v:
misconfig_lines += (
'\n - %s: %s (stored) is not %s (commanded)' %
(k, v, new_v))
if len(misconfig_lines) > 0:
sys.exit(
clr("\n@{rf}Error:@| Attempting to build a catkin workspace using build space: "
"\"%s\" but that build space's most recent configuration "
"differs from the commanded one in ways which will cause "
"problems. Fix the following options or use @{yf}`catkin "
"clean -b`@| to remove the build space: %s" %
(context.build_space_abs, misconfig_lines)))
# Write the current build config for config error checking
with open(os.path.join(context.build_space_abs, BUILDSPACE_MARKER_FILE),
'w') as buildspace_marker_file:
buildspace_marker_file.write(
yaml.dump(buildspace_marker_data, default_flow_style=False))
# Summarize the context
summary_notes = []
if force_cmake:
summary_notes += [
clr("@!@{cf}NOTE:@| Forcing CMake to run for each package.")
]
log(context.summary(summary_notes))
# Find list of packages in the workspace
packages_to_be_built, packages_to_be_built_deps, all_packages = determine_packages_to_be_built(
packages, context)
completed_packages = []
if no_deps:
# Consider deps as "completed"
completed_packages.extend(packages_to_be_built_deps)
else:
# Extend packages to be built to include their deps
packages_to_be_built.extend(packages_to_be_built_deps)
# Also resort
packages_to_be_built = topological_order_packages(
dict(packages_to_be_built))
max_package_name_length = max(
[len(pkg.name) for pth, pkg in packages_to_be_built])
# Assert start_with package is in the workspace
verify_start_with_option(start_with, packages, all_packages,
packages_to_be_built + packages_to_be_built_deps)
# Setup pool of executors
executors = {}
# The communication queue can have ExecutorEvent's or str's passed into it from the executors
comm_queue = Queue()
# The job queue has Jobs put into it
job_queue = Queue()
# Lock for install space
install_lock = Lock() if lock_install else FakeLock()
# Determine the number of executors
try:
if jobs:
jobs = int(jobs)
if jobs < 1:
sys.exit(
"Specified number of jobs '{0}' is not positive.".format(
jobs))
except ValueError:
sys.exit("Specified number of jobs '{0}' is no integer.".format(jobs))
try:
jobs = cpu_count() if jobs is None else jobs
except NotImplementedError:
log('Failed to determine the cpu_count, falling back to 1 jobs as the default.'
)
jobs = 1 if jobs is None else jobs
# If only one set of jobs, turn on interleaving to get more responsive feedback
if jobs == 1:
# TODO: make the system more intelligent so that it can automatically switch to streaming output
# when only one job is building, even if multiple jobs could be building
quiet = False
interleave_output = True
# Start the executors
for x in range(jobs):
e = Executor(x, context, comm_queue, job_queue, install_lock)
executors[x] = e
e.start()
try: # Finally close out now running executors
# Variables for tracking running jobs and built/building packages
start = time.time()
total_packages = len(packages_to_be_built)
package_count = 0
running_jobs = {}
log_dir = os.path.join(context.build_space_abs, 'build_logs')
color = True
if not force_color and not is_tty(sys.stdout):
color = True
out = OutputController(log_dir,
quiet,
interleave_output,
color,
max_package_name_length,
prefix_output=(jobs > 1))
if no_status:
disable_wide_log()
# Prime the job_queue
ready_packages = []
if start_with is None:
ready_packages = get_ready_packages(packages_to_be_built,
running_jobs,
completed_packages)
while start_with is not None:
ready_packages.extend(
get_ready_packages(packages_to_be_built, running_jobs,
completed_packages))
while ready_packages:
pth, pkg = ready_packages.pop(0)
if pkg.name != start_with:
completed_packages.append(pkg.name)
package_count += 1
wide_log("[build] Skipping package '{0}'".format(pkg.name))
else:
ready_packages.insert(0, (pth, pkg))
start_with = None
break
running_jobs = queue_ready_packages(ready_packages, running_jobs,
job_queue, context, force_cmake)
assert running_jobs
error_state = False
errors = []
def set_error_state(error_state):
if error_state:
return
# Set the error state to prevent new jobs
error_state = True
# Empty the job queue
while not job_queue.empty():
job_queue.get()
# Kill the executors by sending a None to the job queue for each of them
for x in range(jobs):
job_queue.put(None)
# While any executors are running, process executor events
while executors:
try:
# Try to get an event from the communications queue
try:
event = comm_queue.get(True, 0.1)
except Empty:
# timeout occured, create null event to pass through checks
event = ExecutorEvent(None, None, None, None)
if event.event_type == 'job_started':
package_count += 1
running_jobs[
event.package]['package_number'] = package_count
running_jobs[event.package]['start_time'] = time.time()
out.job_started(event.package)
if event.event_type == 'command_started':
out.command_started(event.package, event.data['cmd'],
event.data['location'])
if event.event_type == 'command_log':
out.command_log(event.package, event.data['message'])
if event.event_type == 'command_failed':
out.command_failed(event.package, event.data['cmd'],
event.data['location'],
event.data['retcode'])
# Add to list of errors
errors.append(event)
# Remove the command from the running jobs
del running_jobs[event.package]
# If it hasn't already been done, stop the executors
set_error_state(error_state)
if event.event_type == 'command_finished':
out.command_finished(event.package, event.data['cmd'],
event.data['location'],
event.data['retcode'])
if event.event_type == 'job_finished':
completed_packages.append(event.package)
run_time = format_time_delta(
time.time() -
running_jobs[event.package]['start_time'])
out.job_finished(event.package, run_time)
del running_jobs[event.package]
# If shutting down, do not add new packages
if error_state:
continue
# Calculate new packages
if not no_status:
wide_log('[build] Calculating new jobs...', end='\r')
sys.stdout.flush()
ready_packages = get_ready_packages(
packages_to_be_built, running_jobs, completed_packages)
running_jobs = queue_ready_packages(
ready_packages, running_jobs, job_queue, context,
force_cmake)
# Make sure there are jobs to be/being processed, otherwise kill the executors
if not running_jobs:
# Kill the executors by sending a None to the job queue for each of them
for x in range(jobs):
job_queue.put(None)
# If an executor exit event, join it and remove it from the executors list
if event.event_type == 'exit':
# If an executor has an exception, set the error state
if event.data['reason'] == 'exception':
set_error_state(error_state)
errors.append(event)
# Join and remove it
executors[event.executor_id].join()
del executors[event.executor_id]
if not no_status:
# Update the status bar on the screen
executing_jobs = []
for name, value in running_jobs.items():
number, job, start_time = value[
'package_number'], value['job'], value[
'start_time']
if number is None or start_time is None:
continue
executing_jobs.append({
'number':
number,
'name':
name,
'run_time':
format_time_delta_short(time.time() - start_time)
})
msg = clr("[build - {run_time}] ").format(
run_time=format_time_delta_short(time.time() - start))
# If errors post those
if errors:
for error in errors:
msg += clr("[!{package}] ").format(
package=error.package)
# Print them in order of started number
for job_msg_args in sorted(
executing_jobs, key=lambda args: args['number']):
msg += clr("[{name} - {run_time}] ").format(
**job_msg_args)
msg_rhs = clr(
"[{0}/{1} Active | {2}/{3} Completed]").format(
len(executing_jobs), len(executors),
len(packages) if no_deps else
len(completed_packages), total_packages)
# Update title bar
sys.stdout.write("\x1b]2;[build] {0}/{1}\x07".format(
len(packages) if no_deps else len(completed_packages),
total_packages))
# Update status bar
wide_log(msg, rhs=msg_rhs, end='\r')
sys.stdout.flush()
except KeyboardInterrupt:
wide_log("[build] User interrupted, stopping.")
set_error_state(error_state)
# All executors have shutdown
sys.stdout.write("\x1b]2;\x07")
if not errors:
if context.isolate_devel:
if not context.install:
_create_unmerged_devel_setup(context)
else:
_create_unmerged_devel_setup_for_install(context)
wide_log("[build] Finished.")
if not no_notify:
notify("Build Finished",
"{0} packages built".format(total_packages))
return 0
else:
wide_log(clr("[build] There were @!@{rf}errors@|:"))
if not no_notify:
notify("Build Failed",
"there were {0} errors".format(len(errors)))
for error in errors:
if error.event_type == 'exit':
wide_log(
"""Executor '{exec_id}' had an unhandle exception while processing package '{package}':
{data[exc]}
""".format(exec_id=error.executor_id + 1, **error.__dict__))
else:
wide_log(
clr("""
@{rf}Failed@| to build package '@{cf}{package}@|' because the following command:
@!@{kf}# Command run in directory: @|{location}
{cmd.cmd_str}
@{rf}Exited@| with return code: @!{retcode}@|""").format(
package=error.package, **error.data))
sys.exit(1)
finally:
# Ensure executors go down
for x in range(jobs):
job_queue.put(None)
def run(self):
queued_jobs = []
active_jobs = []
completed_jobs = {}
failed_jobs = []
warned_jobs = []
cumulative_times = dict()
start_times = dict()
active_stages = dict()
start_time = self.pre_start_time or time.time()
last_update_time = time.time()
# If the status rate is too low, just disable it
if self.active_status_rate < 1E-3:
self.show_active_status = False
else:
update_duration = 1.0 / self.active_status_rate
# Disable the wide log padding if the status is disabled
if not self.show_active_status:
disable_wide_log()
while True:
# Check if we should stop
if not self.keep_running:
wide_log(clr('[{}] An internal error occurred!').format(self.label))
return
# Write a continuously-updated status line
if self.show_active_status:
# Try to get an event from the queue (non-blocking)
try:
event = self.event_queue.get(False)
except Empty:
# Determine if the status should be shown based on the desired
# status rate
elapsed_time = time.time() - last_update_time
show_status_now = elapsed_time > update_duration
if show_status_now:
# Print live status (overwrites last line)
status_line = clr('[{} {} s] [{}/{} complete] [{}/{} jobs] [{} queued]').format(
self.label,
format_time_delta_short(time.time() - start_time),
len(completed_jobs),
len(self.jobs),
job_server.running_jobs(),
job_server.max_jobs(),
len(queued_jobs) + len(active_jobs) - len(active_stages)
)
# Show failed jobs
if len(failed_jobs) > 0:
status_line += clr(' [@!@{rf}{}@| @{rf}failed@|]').format(len(failed_jobs))
# Check load / mem
if not job_server.load_ok():
status_line += clr(' [@!@{rf}High Load@|]')
if not job_server.mem_ok():
status_line += clr(' [@!@{rf}Low Memory@|]')
# Add active jobs
if len(active_jobs) == 0:
status_line += clr(' @/@!@{kf}Waiting for jobs...@|')
else:
active_labels = []
for j, (s, t, p) in active_stages.items():
d = format_time_delta_short(cumulative_times[j] + time.time() - t)
if p == '':
active_labels.append(clr('[{}:{} - {}]').format(j, s, d))
else:
active_labels.append(clr('[{}:{} ({}%) - {}]').format(j, s, p, d))
status_line += ' ' + ' '.join(active_labels)
# Print the status line
# wide_log(status_line)
wide_log(status_line, rhs='', end='\r')
sys.stdout.flush()
# Store this update time
last_update_time = time.time()
else:
time.sleep(max(0.0, min(update_duration - elapsed_time, 0.01)))
# Only continue when no event was received
continue
else:
# Try to get an event from the queue (blocking)
try:
event = self.event_queue.get(True)
except Empty:
break
# A `None` event is a signal to terminate
if event is None:
break
# Handle the received events
eid = event.event_id
if 'JOB_STATUS' == eid:
queued_jobs = event.data['queued']
active_jobs = event.data['active']
completed_jobs = event.data['completed']
# Check if all jobs have finished in some way
if all([len(event.data[t]) == 0 for t in ['pending', 'queued', 'active']]):
break
elif 'STARTED_JOB' == eid:
cumulative_times[event.data['job_id']] = 0.0
wide_log(clr('Starting >>> {:<{}}').format(
event.data['job_id'],
self.max_jid_length))
elif 'FINISHED_JOB' == eid:
duration = format_time_delta(cumulative_times[event.data['job_id']])
if event.data['succeeded']:
wide_log(clr('Finished <<< {:<{}} [ {} ]').format(
event.data['job_id'],
self.max_jid_length,
duration))
else:
failed_jobs.append(event.data['job_id'])
wide_log(clr('Failed <<< {:<{}} [ {} ]').format(
event.data['job_id'],
self.max_jid_length,
duration))
elif 'ABANDONED_JOB' == eid:
# Create a human-readable reason string
if 'DEP_FAILED' == event.data['reason']:
direct = event.data['dep_job_id'] == event.data['direct_dep_job_id']
if direct:
reason = clr('Depends on failed job {}').format(event.data['dep_job_id'])
else:
reason = clr('Depends on failed job {} via {}').format(
event.data['dep_job_id'],
event.data['direct_dep_job_id'])
elif 'PEER_FAILED' == event.data['reason']:
reason = clr('Unrelated job failed')
elif 'MISSING_DEPS' == event.data['reason']:
reason = clr('Depends on unknown jobs: {}').format(
', '.join([clr('@!{}@|').format(jid) for jid in event.data['dep_ids']]))
wide_log(clr('Abandoned <<< {:<{}} [ {} ]').format(
event.data['job_id'],
self.max_jid_length,
reason))
elif 'STARTED_STAGE' == eid:
active_stages[event.data['job_id']] = [event.data['stage_label'], event.time, '']
start_times[event.data['job_id']] = event.time
if self.show_stage_events:
wide_log(clr('Starting >> {}:{}').format(
event.data['job_id'],
event.data['stage_label']))
elif 'STAGE_PROGRESS' == eid:
active_stages[event.data['job_id']][2] = event.data['percent']
elif 'SUBPROCESS' == eid:
if self.show_stage_events:
wide_log(clr('Subprocess > {}:{} `{}`').format(
event.data['job_id'],
event.data['stage_label'],
event.data['stage_repro']))
elif 'FINISHED_STAGE' == eid:
# Get the stage duration
duration = event.time - start_times[event.data['job_id']]
cumulative_times[event.data['job_id']] += duration
# This is no longer the active stage for this job
del active_stages[event.data['job_id']]
header_border = None
header_border_file = sys.stdout
header_title = None
header_title_file = sys.stdout
lines = []
footer_title = None
footer_title_file = sys.stdout
footer_border = None
footer_border_file = sys.stdout
# Generate headers / borders for output
if event.data['succeeded']:
footer_title = clr(
'Finished << {}:{}').format(
event.data['job_id'],
event.data['stage_label'])
if len(event.data['stderr']) > 0:
# Mark that this job warned about something
if event.data['job_id'] not in warned_jobs:
warned_jobs.append(event.data['job_id'])
# Output contains warnings
header_border = clr('@!@{yf}' + '_' * (terminal_width() - 1) + '@|')
header_border_file = sys.stderr
header_title = clr(
'Warnings << {}:{} {}').format(
event.data['job_id'],
event.data['stage_label'],
event.data['logfile_filename'])
header_title_file = sys.stderr
footer_border = clr('@{yf}' + '.' * (terminal_width() - 1) + '@|')
footer_border_file = sys.stderr
else:
# Normal output, no warnings
header_title = clr(
'Output << {}:{} {}').format(
event.data['job_id'],
event.data['stage_label'],
event.data['logfile_filename'])
# Don't print footer title
if not self.show_stage_events:
footer_title = None
else:
# Output contains errors
header_border = clr('@!@{rf}' + '_' * (terminal_width() - 1) + '@|')
header_border_file = sys.stderr
header_title = clr(
'Errors << {}:{} {}').format(
event.data['job_id'],
event.data['stage_label'],
event.data['logfile_filename'])
header_title_file = sys.stderr
footer_border = clr('@{rf}' + '.' * (terminal_width() - 1) + '@|')
footer_border_file = sys.stderr
footer_title = clr(
'Failed << {}:{:<{}} [ Exited with code {} ]').format(
event.data['job_id'],
event.data['stage_label'],
max(0, self.max_jid_length - len(event.data['job_id'])),
event.data['retcode'])
footer_title_file = sys.stderr
lines_target = sys.stdout
if self.show_buffered_stdout:
if len(event.data['interleaved']) > 0:
lines = [
l
for l in event.data['interleaved'].splitlines(True)
if (self.show_compact_io is False or len(l.strip()) > 0)
]
else:
header_border = None
header_title = None
footer_border = None
elif self.show_buffered_stderr:
if len(event.data['stderr']) > 0:
lines = [
l
for l in event.data['stderr'].splitlines(True)
if (self.show_compact_io is False or len(l.strip()) > 0)
]
lines_target = sys.stderr
else:
header_border = None
header_title = None
footer_border = None
if len(lines) > 0:
if self.show_repro_cmd:
if event.data['repro'] is not None:
lines.append(clr('@!@{kf}{}@|\n').format(event.data['repro']))
# Print the output
if header_border:
wide_log(header_border, file=header_border_file)
if header_title:
wide_log(header_title, file=header_title_file)
if len(lines) > 0:
wide_log(''.join(lines), end='\r', file=lines_target)
if footer_border:
wide_log(footer_border, file=footer_border_file)
if footer_title:
wide_log(footer_title, file=footer_title_file)
elif 'STDERR' == eid:
if self.show_live_stderr and len(event.data['data']) > 0:
wide_log(self.format_interleaved_lines(event.data), end='\r', file=sys.stderr)
elif 'STDOUT' == eid:
if self.show_live_stdout and len(event.data['data']) > 0:
wide_log(self.format_interleaved_lines(event.data), end='\r')
elif 'MESSAGE' == eid:
wide_log(event.data['msg'])
# Print the full summary
if self.show_full_summary:
self.print_exec_summary(completed_jobs, warned_jobs, failed_jobs)
# Print a compact summary
if self.show_summary or self.show_full_summary:
self.print_compact_summary(completed_jobs, warned_jobs, failed_jobs)
# Print final runtime
wide_log(clr('[{}] Runtime: {} total.').format(
self.label,
format_time_delta(time.time() - start_time)))
def build_isolated_workspace(
context,
packages=None,
start_with=None,
no_deps=False,
jobs=None,
force_cmake=False,
force_color=False,
quiet=False,
interleave_output=False,
no_status=False,
lock_install=False,
no_notify=False
):
"""Builds a catkin workspace in isolation
This function will find all of the packages in the source space, start some
executors, feed them packages to build based on dependencies and topological
ordering, and then monitor the output of the executors, handling loggings of
the builds, starting builds, failing builds, and finishing builds of
packages, and handling the shutdown of the executors when appropriate.
:param context: context in which to build the catkin workspace
:type context: :py:class:`catkin_tools.verbs.catkin_build.context.Context`
:param packages: list of packages to build, by default their dependencies will also be built
:type packages: list
:param start_with: package to start with, skipping all packages which proceed it in the topological order
:type start_with: str
:param no_deps: If True, the dependencies of packages will not be built first
:type no_deps: bool
:param jobs: number of parallel package build jobs
:type jobs: int
:param force_cmake: forces invocation of CMake if True, default is False
:type force_cmake: bool
:param force_color: forces colored output even if terminal does not support it
:type force_color: bool
:param quiet: suppresses the output of commands unless there is an error
:type quiet: bool
:param interleave_output: prints the output of commands as they are received
:type interleave_output: bool
:param no_status: disables status bar
:type no_status: bool
:param lock_install: causes executors to synchronize on access of install commands
:type lock_install: bool
:param no_notify: suppresses system notifications
:type no_notify: bool
:raises: SystemExit if buildspace is a file or no packages were found in the source space
or if the provided options are invalid
"""
# If no_deps is given, ensure packages to build are provided
if no_deps and packages is None:
sys.exit("With --no-deps, you must specify packages to build.")
# Make sure there is a build folder and it is not a file
if os.path.exists(context.build_space_abs):
if os.path.isfile(context.build_space_abs):
sys.exit(clr(
"@{rf}Error:@| Build space '{0}' exists but is a file and not a folder."
.format(context.build_space_abs)))
# If it dosen't exist, create it
else:
log("Creating build space directory, '{0}'".format(context.build_space_abs))
os.makedirs(context.build_space_abs)
# Check for catkin_make droppings
if context.corrupted_by_catkin_make():
sys.exit(
clr("@{rf}Error:@| Build space `{0}` exists but appears to have previously been "
"created by the `catkin_make` or `catkin_make_isolated` tool. "
"Please choose a different directory to use with `catkin build` "
"or clean the build space.".format(context.build_space_abs)))
# Declare a buildspace marker describing the build config for error checking
buildspace_marker_data = {
'workspace': context.workspace,
'profile': context.profile,
'install': context.install,
'install_space': context.install_space_abs,
'devel_space': context.devel_space_abs,
'source_space': context.source_space_abs}
# Check build config
if os.path.exists(os.path.join(context.build_space_abs, BUILDSPACE_MARKER_FILE)):
with open(os.path.join(context.build_space_abs, BUILDSPACE_MARKER_FILE)) as buildspace_marker_file:
existing_buildspace_marker_data = yaml.load(buildspace_marker_file)
misconfig_lines = ''
for (k, v) in existing_buildspace_marker_data.items():
new_v = buildspace_marker_data.get(k, None)
if new_v != v:
misconfig_lines += (
'\n - %s: %s (stored) is not %s (commanded)' %
(k, v, new_v))
if len(misconfig_lines) > 0:
sys.exit(clr(
"\n@{rf}Error:@| Attempting to build a catkin workspace using build space: "
"\"%s\" but that build space's most recent configuration "
"differs from the commanded one in ways which will cause "
"problems. Fix the following options or use @{yf}`catkin "
"clean -b`@| to remove the build space: %s" %
(context.build_space_abs, misconfig_lines)))
# Write the current build config for config error checking
with open(os.path.join(context.build_space_abs, BUILDSPACE_MARKER_FILE), 'w') as buildspace_marker_file:
buildspace_marker_file.write(yaml.dump(buildspace_marker_data, default_flow_style=False))
# Summarize the context
summary_notes = []
if force_cmake:
summary_notes += [clr("@!@{cf}NOTE:@| Forcing CMake to run for each package.")]
log(context.summary(summary_notes))
# Find list of packages in the workspace
packages_to_be_built, packages_to_be_built_deps, all_packages = determine_packages_to_be_built(packages, context)
completed_packages = []
if no_deps:
# Consider deps as "completed"
completed_packages.extend(packages_to_be_built_deps)
else:
# Extend packages to be built to include their deps
packages_to_be_built.extend(packages_to_be_built_deps)
# Also resort
packages_to_be_built = topological_order_packages(dict(packages_to_be_built))
max_package_name_length = max([len(pkg.name) for pth, pkg in packages_to_be_built])
# Assert start_with package is in the workspace
verify_start_with_option(start_with, packages, all_packages, packages_to_be_built + packages_to_be_built_deps)
# Setup pool of executors
executors = {}
# The communication queue can have ExecutorEvent's or str's passed into it from the executors
comm_queue = Queue()
# The job queue has Jobs put into it
job_queue = Queue()
# Lock for install space
install_lock = Lock() if lock_install else FakeLock()
# Determine the number of executors
try:
if jobs:
jobs = int(jobs)
if jobs < 1:
sys.exit("Specified number of jobs '{0}' is not positive.".format(jobs))
except ValueError:
sys.exit("Specified number of jobs '{0}' is no integer.".format(jobs))
try:
jobs = cpu_count() if jobs is None else jobs
except NotImplementedError:
log('Failed to determine the cpu_count, falling back to 1 jobs as the default.')
jobs = 1 if jobs is None else jobs
# If only one set of jobs, turn on interleaving to get more responsive feedback
if jobs == 1:
# TODO: make the system more intelligent so that it can automatically switch to streaming output
# when only one job is building, even if multiple jobs could be building
quiet = False
interleave_output = True
# Start the executors
for x in range(jobs):
e = Executor(x, context, comm_queue, job_queue, install_lock)
executors[x] = e
e.start()
# Variables for tracking running jobs and built/building packages
start = time.time()
total_packages = len(packages_to_be_built)
package_count = 0
running_jobs = {}
log_dir = os.path.join(context.build_space_abs, 'build_logs')
color = True
if not force_color and not is_tty(sys.stdout):
color = True
out = OutputController(log_dir, quiet, interleave_output, color, max_package_name_length, prefix_output=(jobs > 1))
if no_status:
disable_wide_log()
# Prime the job_queue
ready_packages = []
if start_with is None:
ready_packages = get_ready_packages(packages_to_be_built, running_jobs, completed_packages)
while start_with is not None:
ready_packages.extend(get_ready_packages(packages_to_be_built, running_jobs, completed_packages))
while ready_packages:
pth, pkg = ready_packages.pop(0)
if pkg.name != start_with:
completed_packages.append(pkg.name)
package_count += 1
wide_log("[build] Skipping package '{0}'".format(pkg.name))
else:
ready_packages.insert(0, (pth, pkg))
start_with = None
break
running_jobs = queue_ready_packages(ready_packages, running_jobs, job_queue, context, force_cmake)
assert running_jobs
error_state = False
errors = []
def set_error_state(error_state):
if error_state:
return
# Set the error state to prevent new jobs
error_state = True
# Empty the job queue
while not job_queue.empty():
job_queue.get()
# Kill the executors by sending a None to the job queue for each of them
for x in range(jobs):
job_queue.put(None)
# While any executors are running, process executor events
while executors:
try:
# Try to get an event from the communications queue
try:
event = comm_queue.get(True, 0.1)
except Empty:
# timeout occured, create null event to pass through checks
event = ExecutorEvent(None, None, None, None)
if event.event_type == 'job_started':
package_count += 1
running_jobs[event.package]['package_number'] = package_count
running_jobs[event.package]['start_time'] = time.time()
out.job_started(event.package)
if event.event_type == 'command_started':
out.command_started(event.package, event.data['cmd'], event.data['location'])
if event.event_type == 'command_log':
out.command_log(event.package, event.data['message'])
if event.event_type == 'command_failed':
out.command_failed(event.package, event.data['cmd'], event.data['location'], event.data['retcode'])
# Add to list of errors
errors.append(event)
# Remove the command from the running jobs
del running_jobs[event.package]
# If it hasn't already been done, stop the executors
set_error_state(error_state)
if event.event_type == 'command_finished':
out.command_finished(event.package, event.data['cmd'], event.data['location'], event.data['retcode'])
if event.event_type == 'job_finished':
completed_packages.append(event.package)
run_time = format_time_delta(time.time() - running_jobs[event.package]['start_time'])
out.job_finished(event.package, run_time)
del running_jobs[event.package]
# If shutting down, do not add new packages
if error_state:
continue
# Calculate new packages
if not no_status:
wide_log('[build] Calculating new jobs...', end='\r')
sys.stdout.flush()
ready_packages = get_ready_packages(packages_to_be_built, running_jobs, completed_packages)
running_jobs = queue_ready_packages(ready_packages, running_jobs, job_queue, context, force_cmake)
# Make sure there are jobs to be/being processed, otherwise kill the executors
if not running_jobs:
# Kill the executors by sending a None to the job queue for each of them
for x in range(jobs):
job_queue.put(None)
# If an executor exit event, join it and remove it from the executors list
if event.event_type == 'exit':
# If an executor has an exception, set the error state
if event.data['reason'] == 'exception':
set_error_state(error_state)
errors.append(event)
# Join and remove it
executors[event.executor_id].join()
del executors[event.executor_id]
if not no_status:
# Update the status bar on the screen
executing_jobs = []
for name, value in running_jobs.items():
number, start_time = value['package_number'], value['start_time']
if number is None or start_time is None:
continue
executing_jobs.append({
'number': number,
'name': name,
'run_time': format_time_delta_short(time.time() - start_time)
})
msg = clr("[build - {run_time}] ").format(run_time=format_time_delta_short(time.time() - start))
# If errors post those
if errors:
for error in errors:
msg += clr("[!{package}] ").format(package=error.package)
# Print them in order of started number
for job_msg_args in sorted(executing_jobs, key=lambda args: args['number']):
msg += clr("[{name} - {run_time}] ").format(**job_msg_args)
msg_rhs = clr("[{0}/{1} Active | {2}/{3} Completed]").format(
len(executing_jobs),
len(executors),
len(packages) if no_deps else len(completed_packages),
total_packages
)
# Update title bar
sys.stdout.write("\x1b]2;[build] {0}/{1}\x07".format(
len(packages) if no_deps else len(completed_packages),
total_packages
))
# Update status bar
wide_log(msg, rhs=msg_rhs, end='\r')
sys.stdout.flush()
except KeyboardInterrupt:
wide_log("[build] User interrupted, stopping.")
set_error_state(error_state)
# All executors have shutdown
sys.stdout.write("\x1b]2;\x07")
if not errors:
if context.isolate_devel:
if not context.install:
_create_unmerged_devel_setup(context)
else:
_create_unmerged_devel_setup_for_install(context)
wide_log("[build] Finished.")
if not no_notify:
notify("Build Finished", "{0} packages built".format(total_packages))
return 0
else:
wide_log(clr("[build] There were @!@{rf}errors@|:"))
if not no_notify:
notify("Build Failed", "there were {0} errors".format(len(errors)))
for error in errors:
if error.event_type == 'exit':
wide_log("""Executor '{exec_id}' had an unhandle exception while processing package '{package}':
{data[exc]}
""".format(exec_id=error.executor_id + 1, **error.__dict__))
else:
wide_log(clr("""
@{rf}Failed@| to build package '@{cf}{package}@|' because the following command:
@!@{kf}# Command run in directory: @|{location}
{cmd.cmd_str}
@{rf}Exited@| with return code: @!{retcode}@|""").format(package=error.package, **error.data))
sys.exit(1)